Trust Evaluation Of Human-robot System Based On Paraplegic Walking-assisting Exoskeleton Robot

The level of people’s trust in robots will greatly affect the effect of human-robot collaboration.So far,the research results on the trust degree of human-robot system are limited at home and abroad,but the research on the trust degree of human-robot system has gradually become a hot issue at home and abroad,and the research on the trust degree of human-exoskeleton robot cooperation is blank.With the development of clinical testing of paraplegic assisted exoskeleton robot,the influence of its trust degree on the human-robot interaction effect is gradually revealed.Trust is a subjective factor of human beings,and the analysis and measurement of its influencing factors are the premise of research.In response to this problem,this paper studies the factors affecting the trust of the human and exoskeleton system,and adopts a multi-method to measure the trust of the human-exoskeleton system to evaluate the factors:(1)Assessment and analysis of influencing factors of trust in human-exoskeleton system: Based on the three-factor model of human-computer trust,this paper divides the influencing factors of trust in exoskeleton into three categories: human individual differences,exoskeleton robot factors and external factors.In view of the existing research on human-robot trust,this paper firstly summarizes and analyzes the evaluation methods of human-robot interaction trust,and classifies the influencing factors accordingly.Based on the idea of the three-factor model of human-machine trust,this paper analyzes the influencing factors of trust from three perspectives: the wearer’s own factors,the machine’s own factors and other external factors.(2)Human-exoskeleton system trust evaluation method: Aiming at the measurement of trust,this paper measures and evaluates the trust change through the combination of eye movement gaze area change-body posture change-scale.First,through the scale,directly measure the degree of trust from the perspective of subjective perception,as the criterion of trust;then use the eye tracker to collect the eye movement data of the wearer during the walking process,and divide the eye movement area.The eye movement area changes are judged by image processing to analyze the changes in the trust level;finally,the upper body movements of the wearer are recorded through the motion capture system while the wearer is walking,and the trust changes are analyzed through the change of the torso angle.(3)Verification of influencing factors of trust in different scenarios: The evaluation indicators proposed in this paper were applied to conduct experimental analysis on healthy subjects in the experimental scenario first,to study the correlation between the change of influencing trust and influencing factors,and to discuss the influence of the change of trust on collaboration efficiency.Then,the evaluation indexes were applied to clinical tests to study the change of trust and cooperation efficiency of paraplegic patients when wearing exoskeleton.The study of trust can help researchers to have a more comprehensive understanding of the practical application of lower limb exoskeleton,and better help the optimization of lower limb exoskeleton robot,so as to achieve higher human-robot interaction efficiency.